Towards Supervisory Control for Remote Mobile Manipulation PDF Download

Author: Alejandro Hernandez Herdocia
Publisher:
ISBN:
Category : Manipulators (Mechanism)
Languages : en
Pages :

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Book Description

Author: Clifford Swain Loucks
Publisher:
ISBN:
Category : Remote control
Languages : en
Pages : 270

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Book Description

Author: Gregory P. Starr
Publisher:
ISBN:
Category : Automatic control
Languages : en
Pages : 136

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Book Description

Author: Alex Lazinica
Publisher: BoD – Books on Demand
ISBN: 9533070900
Category : Technology & Engineering
Languages : en
Pages : 732

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Book Description
Robot manipulators are developing more in the direction of industrial robots than of human workers. Recently, the applications of robot manipulators are spreading their focus, for example Da Vinci as a medical robot, ASIMO as a humanoid robot and so on. There are many research topics within the field of robot manipulators, e.g. motion planning, cooperation with a human, and fusion with external sensors like vision, haptic and force, etc. Moreover, these include both technical problems in the industry and theoretical problems in the academic fields. This book is a collection of papers presenting the latest research issues from around the world.

Author: Qun Ma
Publisher:
ISBN:
Category :
Languages : en
Pages : 138

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Author: Thomas B. Sheridan
Publisher:
ISBN:
Category : Human-machine systems
Languages : en
Pages : 104

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Book Description
This report is about supervisory control, an increasingly prevalent form of man-machine system wherein a human operator controls a process as the supervisor of a computer. The computer, in turn, may perform limited automatic control or it may process and display information from sensors. The particular context of interest here is supervisory control of manipulators and vehicles for remote inspection and work in the deep ocean. After giving a more detailed definition of supervisory control and providing examples, the report reviews a number of experimental studies conducted recently at the MIT Man-Machine System Laboratory. These are divided into two groups. The first group of studies is concerned with computer mediation in command and control of manipulation. The next group of experimental studies examines computer mediation in processing sensed information and displaying it to the human supervisor. A brief conclusion reviews how these experiments fit together and speculates on problems and prospects for supervisory control in manipulation, vehicle and process control, and other areas.

Author: Kazuo Tani
Publisher:
ISBN:
Category : Manipulators (Mechanism)
Languages : en
Pages : 82

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Book Description
The aim of this project is to evaluate automatic compensation for moving targets in the supervisory control of remote manipulators. An experimental system was built which consists of a master/slave manipulator, a moving table for the moving object, and a computer controlling both the manipulator and the table. A software system was made which allows the master/slave operation with object motion compensation under computer control. The method of resolved motion rate control was adopted for the manipulator control. The computation time in this way proved practical and permitted a system sampling interval of 0.05 s. Experiments were carried out with human operators performing manipulation tasks in the master/slave operation under computer control. Their performance was compared in three situations: no object motion, compensation for the object motion, and no compensation. The comparison of the compensation and no compensation situations showed that the compensation reduced the operation time by 26 - 41% in the peg moving task and increased the accuracy by two and a half times in rectangle tracing. In valve turning, however, a significant improvement was not observed. Thus, it can be concluded that the compensation for target motion can improve the performance of the human operator significantly in certain kinds of tasks. (Author).

Author:
Publisher:
ISBN:
Category : Aeronautics
Languages : en
Pages : 440

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Book Description

Author: Spyros G Tzafestas
Publisher: Elsevier
ISBN: 0124171036
Category : Technology & Engineering
Languages : en
Pages : 718

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Book Description
Introduction to Mobile Robot Control provides a complete and concise study of modeling, control, and navigation methods for wheeled non-holonomic and omnidirectional mobile robots and manipulators. The book begins with a study of mobile robot drives and corresponding kinematic and dynamic models, and discusses the sensors used in mobile robotics. It then examines a variety of model-based, model-free, and vision-based controllers with unified proof of their stabilization and tracking performance, also addressing the problems of path, motion, and task planning, along with localization and mapping topics. The book provides a host of experimental results, a conceptual overview of systemic and software mobile robot control architectures, and a tour of the use of wheeled mobile robots and manipulators in industry and society. Introduction to Mobile Robot Control is an essential reference, and is also a textbook suitable as a supplement for many university robotics courses. It is accessible to all and can be used as a reference for professionals and researchers in the mobile robotics field. Clearly and authoritatively presents mobile robot concepts Richly illustrated throughout with figures and examples Key concepts demonstrated with a host of experimental and simulation examples No prior knowledge of the subject is required; each chapter commences with an introduction and background

Author: Simon George McCandlish
Publisher:
ISBN:
Category : Decision making
Languages : en
Pages : 80

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Book Description
The long term aim of this work is the modeling of the process by which the human commands and controls a real-time information system containing automatic subroutines which may be used to accomplish portions of the task. Remote manipulation is believed to have all the typical attributes of such a system yet be simple enough to be amenable to laboratory investigation. This report describes a computer simulation of a remote manipulation task and rate-controlled manipulator; into the latter was built some low-level automatic decision making ability which could be used at the operator's discretion to augment his direct continuous control. Under experimental investigation were the effect of transmission delay, dynamic lag and intermittent vision on human manipulative ability. This report describes further experiments in which the operator called in sequence various on-site automatic control programs of the machine, and thereby acted as a supervisor. The results suggest that the supervisory mode of operation has some advantages when the task to be performed is difficult for a human controlling directly. Results show the supervisory mode to require more training than the direct mode.